Parking track determination method and device

Abstract

The invention provides a parking track determination method. The method comprises steps that according to coordinates of a starting point, coordinates of a terminal point and space coordinates of an obstacle, a dot matrix between the starting point coordinates and the terminal point coordinates and not in the space coordinate range of the obstacle is generated; candidate points are selected from the dot matrix; whether a parking track curve between the candidate point and the terminal point collides with an obstacle or not is determined; whether the candidate points need to be selected betweenthe candidate point and the terminal point to modify a parking track or not is determined, when the candidate points do not need to be selected again, a target track composed of all points in a candidate set is obtained, wherein each candidate point is selected by taking a previous candidate point as a reference point; according to preset influence factors at least including a steering angle anda steering angle variation and weights of influence factors, a point with the minimum cost value in the obtained dot matrix is calculated, and riding experience of people on a vehicle is improved according to the fact that a steering angle required by a target track vehicle in the automatic parking process is small and the steering angle variation is small each time.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, and more specifically, to a method and device for determining a parking trajectory. Background technique [0002] With the increasing number of urban vehicles, parking resources are increasingly tight, and the narrow parking space has brought great troubles to drivers. Automatic parking technology can automatically or semi-automatically control the vehicle to simulate the parking trajectory of a skilled driver. Due to the combination of sensors and automatic / semi-automatic control technology, the car can be parked automatically to a space smaller than the conventional parking space. In the parking space, this not only facilitates the driver's parking, but also indirectly increases the car storage capacity of the parking lot. [0003] At present, the commonly used trajectory planning method in automatic parking technology is the trajectory planning method based on RRT (Rapid Exp...

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Problems solved by technology

However, this trajectory is only a feasible trajectory and does not meet higher needs

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